diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 000000000..5c4762f30
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,37 @@
+name: SonarCloud
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
+jobs:
+  build:
+    name: Build and analyze
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0  # Shallow clones should be disabled for a better relevancy of analysis
+      - name: Set up JDK 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: 'zulu' # Alternative distribution options are available.
+      - name: Cache SonarCloud packages
+        uses: actions/cache@v3
+        with:
+          path: ~/.sonar/cache
+          key: ${{ runner.os }}-sonar
+          restore-keys: ${{ runner.os }}-sonar
+      - name: Cache Maven packages
+        uses: actions/cache@v3
+        with:
+          path: ~/.m2
+          key: ${{ runner.os }}-m2-${{ hashFiles('**/pom.xml') }}
+          restore-keys: ${{ runner.os }}-m2
+      - name: Build and analyze
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}  # Needed to get PR information, if any
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+        run: mvn -B verify org.sonarsource.scanner.maven:sonar-maven-plugin:sonar -Dsonar.projectKey=szfp98_base
diff --git a/pom.xml b/pom.xml
index 2be9fb5f5..2fc82dd58 100644
--- a/pom.xml
+++ b/pom.xml
@@ -7,6 +7,8 @@
 
 	<properties>
 		<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+		<sonar.organization>szfp98</sonar.organization>
+  		<sonar.host.url>https://sonarcloud.io</sonar.host.url>
 	</properties>
 
     <packaging>pom</packaging>
diff --git a/train-controller/src/main/java/hu/bme/mit/train/controller/TrainControllerImpl.java b/train-controller/src/main/java/hu/bme/mit/train/controller/TrainControllerImpl.java
index 06649d278..f55d75057 100644
--- a/train-controller/src/main/java/hu/bme/mit/train/controller/TrainControllerImpl.java
+++ b/train-controller/src/main/java/hu/bme/mit/train/controller/TrainControllerImpl.java
@@ -43,7 +43,8 @@ private void enforceSpeedLimit() {
 
 	@Override
 	public void setJoystickPosition(int joystickPosition) {
-		this.step = joystickPosition;		
+		this.step = joystickPosition;
+		followSpeed();			
 	}
 
 }
diff --git a/train-sensor/src/test/java/hu/bme/mit/train/sensor/TrainSensorTest.java b/train-sensor/src/test/java/hu/bme/mit/train/sensor/TrainSensorTest.java
index a0191200d..56b55b701 100644
--- a/train-sensor/src/test/java/hu/bme/mit/train/sensor/TrainSensorTest.java
+++ b/train-sensor/src/test/java/hu/bme/mit/train/sensor/TrainSensorTest.java
@@ -9,7 +9,7 @@
 import org.junit.Test;
 import static org.mockito.Mockito.*;
 
-public class TrainSensorTest {
+    public class TrainSensorTest {
 
     TrainController mockTC;
     TrainUser mockTU;